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WO2018170733A1 - Procédé de commande pour plate-forme mobile et plate-forme mobile - Google Patents

Procédé de commande pour plate-forme mobile et plate-forme mobile Download PDF

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Publication number
WO2018170733A1
WO2018170733A1 PCT/CN2017/077513 CN2017077513W WO2018170733A1 WO 2018170733 A1 WO2018170733 A1 WO 2018170733A1 CN 2017077513 W CN2017077513 W CN 2017077513W WO 2018170733 A1 WO2018170733 A1 WO 2018170733A1
Authority
WO
WIPO (PCT)
Prior art keywords
mobile platform
movable platform
platform
information
distance
Prior art date
Application number
PCT/CN2017/077513
Other languages
English (en)
Chinese (zh)
Inventor
饶雄斌
王乃博
龚明
林星森
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2017/077513 priority Critical patent/WO2018170733A1/fr
Priority to CN202111578541.9A priority patent/CN114253283A/zh
Priority to CN201780005632.9A priority patent/CN108513640B/zh
Publication of WO2018170733A1 publication Critical patent/WO2018170733A1/fr
Priority to US16/569,798 priority patent/US20200001998A1/en

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • G01S19/15—Aircraft landing systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/02—Arrangements or adaptations of signal or lighting devices
    • B64D47/06—Arrangements or adaptations of signal or lighting devices for indicating aircraft presence
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/30—Monitoring; Testing of propagation channels
    • H04B17/309—Measuring or estimating channel quality parameters
    • H04B17/336—Signal-to-interference ratio [SIR] or carrier-to-interference ratio [CIR]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04H—BROADCAST COMMUNICATION
    • H04H20/00—Arrangements for broadcast or for distribution combined with broadcast
    • H04H20/65—Arrangements characterised by transmission systems for broadcast
    • H04H20/71—Wireless systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/20—Monitoring; Testing of receivers
    • H04B17/27—Monitoring; Testing of receivers for locating or positioning the transmitter
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/30—Monitoring; Testing of propagation channels
    • H04B17/309—Measuring or estimating channel quality parameters
    • H04B17/318—Received signal strength

Definitions

  • the embodiments of the present application relate to the field of mobile platforms, and in particular, to a control method of a mobile platform and a mobile platform.
  • Unmanned Aerial Vehicle is a non-manned aircraft based on radio remote control or controlled by its own program, because of its low cost, high efficiency, high flexibility and high adaptability. And the advantages of safety and stability have received extensive attention and research.
  • the supervision technology for drones it is mainly used to detect the interception and discovery of drones, that is, to obtain the position information of the location of the drone, generally through phased array radar, electronic imaging, and acoustic wave detection. And the technology of RF signal detection and other technologies to realize the acquisition of the position information of the UAV, and also the acquisition of the position information of the UAV by the cooperation of the ADS-B equipment carried on the UAV and the radar equipment on the ground, so as to achieve The supervision of drones, but these technologies have not yet proposed an effective management mechanism for the flight of drones in the air. The acquisition of the location information of drones is still difficult to solve the problems encountered during the flight, such as intrusion. The state military secretly jeopardizes the safety of passenger aircraft.
  • Embodiments of the present invention provide a control method of a mobile platform and a mobile platform for implementing supervision on a mobile platform.
  • the first aspect of the present invention provides a method for controlling a mobile platform, which may include:
  • a second aspect of the present invention provides a mobile platform, which may include:
  • a memory for storing program instructions
  • a processor configured to determine whether the mobile platform can broadcast information indicating parameters related to the mobile platform by calling stored program instructions in the memory;
  • the present invention can effectively monitor the mobile platform to limit the movement of the mobile platform when the mobile platform cannot broadcast the information of its related parameters, which is beneficial to the failure of the mobile platform supervision. Reduce the potential risks associated with mobile platforms to enable effective management of flights such as drones.
  • FIG. 1 is a schematic diagram of data transmission of a mobile platform according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of an embodiment of a method for controlling a mobile platform according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a first composition of a mobile platform according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of another embodiment of a method for controlling a mobile platform according to an embodiment of the present invention.
  • FIG. 5 is a schematic diagram of another embodiment of a method for controlling a mobile platform according to an embodiment of the present invention.
  • FIG. 6 is a schematic diagram of another embodiment of a method for controlling a mobile platform according to an embodiment of the present invention.
  • FIG. 7 is a schematic diagram showing a second composition of a mobile platform according to an embodiment of the present invention.
  • FIG. 8 is a schematic diagram of another embodiment of a method for controlling a mobile platform according to an embodiment of the present invention.
  • FIG. 9 is a schematic diagram of another embodiment of a method for controlling a mobile platform according to an embodiment of the present invention.
  • FIG. 10 is a schematic diagram showing a positional relationship between a supervision area and a flight limited area according to an embodiment of the present invention
  • FIG. 11 is a schematic diagram of another embodiment of a method for controlling a mobile platform according to an embodiment of the present invention.
  • FIG. 12 is a schematic diagram of another embodiment of a method for controlling a mobile platform according to an embodiment of the present invention.
  • FIG. 13 is a schematic diagram of another embodiment of a method for controlling a mobile platform according to an embodiment of the present invention.
  • FIG. 14 is a schematic diagram of another embodiment of a method for controlling a mobile platform according to an embodiment of the present invention.
  • FIG. 15 is a schematic diagram of another embodiment of a method for controlling a mobile platform according to an embodiment of the present invention.
  • 16 is a schematic diagram of another embodiment of a method for controlling a mobile platform according to an embodiment of the present invention.
  • FIG. 17 is a schematic diagram of an embodiment of a mobile platform according to an embodiment of the present invention.
  • FIG. 18 is a schematic diagram of another embodiment of a mobile platform according to an embodiment of the present invention.
  • FIG. 19 is a schematic diagram of another embodiment of a mobile platform according to an embodiment of the present invention.
  • Embodiments of the present invention provide a control method of a mobile platform and a mobile platform for implementing supervision on a mobile platform.
  • the mobile platform may refer to any device that can move.
  • the movable platform may include, but is not limited to, land vehicles, underwater vehicles, air vehicles, and other types of mobile vehicles.
  • the mobile platform may include a passenger carrier and/or an unmanned vehicle (UAV), and the operation of the mobile platform may include flight.
  • UAV unmanned vehicle
  • the UAV can be replaced by another conventional type of mobile platform, and the flight can be Replaced by other operations associated with the mobile platform, this No restrictions are imposed.
  • the UAV can be communicatively connected with a control terminal such as a remote controller to implement flight control of the control terminal to the UAV, and the UAV can transmit the collected data to the UAV.
  • a control terminal such as a remote controller to implement flight control of the control terminal to the UAV
  • the UAV can transmit the collected data to the UAV.
  • Control terminal the UAV can also be supervised by the supervisory device, that is, the supervisory device can obtain communication data between the UAV and its control terminal.
  • the supervisory equipment can obtain the location information of the UAV through techniques such as phased array radar, electronic imaging, acoustic wave detection, and radio frequency signal detection to achieve supervision of the UAV.
  • the acquisition of the location information of the UAV is only to know the specific location of the UAV flight.
  • the supervisory equipment obtains the location information of the UAV, it cannot implement the supervision of the UAV, but in the above In both cases, there is no effective management mechanism for how to effectively control the flight of the UAV.
  • a control method of a mobile platform and a mobile platform including a UAV.
  • the UAV may broadcast information indicating a UAV related parameter, but determine that the UAV cannot broadcast information indicating a UAV related parameter.
  • the movement of the UAV, that is, the flight can be restricted, which indicates that in the case of UAV supervision failure, the potential risks of the UAV can be reduced by restricting the flight of the UAV, such as breaking into the national military secrets and jeopardizing the safety of the passenger aircraft.
  • control terminal of the mobile platform may include, but is not limited to, one of a remote controller, a smart phone, a tablet, a smart wearable device (watch, a wristband), a ground control station, a PC, a laptop, and the like. Or a variety.
  • an embodiment of the method for controlling the mobile platform in the embodiment of the present invention includes:
  • the mobile platform in order to realize the operational security of the mobile platform, can broadcast information indicating its related parameters after the operation, so that the monitoring device or the control terminal of the mobile platform can know the whereabouts and model of the mobile platform. Etc., and the control or management of the mobile platform can be better implemented according to the information broadcast by the mobile platform.
  • the mobile platform can detect its ability to broadcast information in real time, and use the detection result as a criterion for whether the mobile platform can be effectively monitored, that is, when the mobile platform can broadcast
  • the information indicating the relevant parameters of the mobile platform is indicated, it may be determined that the supervision of the mobile platform is effective, and vice versa, it may be determined that the supervision of the mobile platform is invalid, so that Different results have different controls on the mobile platform to reduce the risk that the mobile platform may pose when the regulation is invalid.
  • the relevant parameters of the mobile platform may include at least the location information of the mobile platform, and the location information may be specifically expressed as the current longitude, latitude, and altitude of the mobile platform.
  • related parameters may also include, but are not limited to, identity information of the mobile platform, location information, mobile parameter information, mobile posture information, owner information, purchase time information, purchase location information, and historical movement.
  • identity information of the mobile platform location information
  • mobile parameter information mobile posture information
  • owner information purchase time information
  • purchase location information and historical movement.
  • One or more of the trajectory information, the hardware configuration information, the check digit information, and the location information of the control terminal are not limited herein.
  • the mobile platform is a UAV as an example.
  • the identity information may include, but is not limited to, a vendor identifier and/or a UAV model.
  • the location information of the UAV may include, but is not limited to, the current location information of the UAV and the location of the UAV when it takes off.
  • the movement parameter information may include, but is not limited to, at least one of a maximum speed of flight of the UAV, a maximum flight altitude, and a current flight speed
  • the movement attitude information may include, but is not limited to, a roll angle and a pitch angle of the UAV And at least one of the yaw angles
  • the hardware configuration information may be at least but not limited to the configuration information of the payload of the drone
  • the check digit information may be, but not limited to, a cyclic redundancy CRC check code, in the regulatory information
  • the information other than the check bit information is checked to improve the correct rate of the broadcasted information
  • the position information of the control terminal may include, but is not limited to, position information when the UAV takes off, and at least position information output by the positioning device on the control terminal.
  • the mobile platform can broadcast information in multiple manners, such as using Wi-Fi technology, SDR technology, etc., and may refer to the prior art, or may be an alternative technology in the future, as long as It may be possible to broadcast information indicating parameters related to the mobile platform, which is not limited herein.
  • the movement of the movable platform may be restricted.
  • the mobile platform can broadcast information indicating the parameters related to the mobile platform, that is, whether the mobile platform is supervised or not, when the mobile platform cannot broadcast information, on the one hand, the description may be due to the hardware of the mobile platform. Facility problems result in the inability to broadcast information indicating parameters related to the mobile platform, making it impossible to supervise the mobile platform. On the other hand, the description may be due to incorrect information indicating the parameters of the mobile platform, even if broadcasted. Unable to achieve Effective regulation of mobile platforms. Therefore, in both cases, the movement of the mobile platform can be restricted to minimize the risk of the mobile platform being out of regulation.
  • the mobile platform can broadcast information indicating the parameters related to the mobile platform, other operations may not be performed on the mobile platform, so that the mobile platform maintains the current operation.
  • the mobile platform by determining whether the mobile platform can broadcast information indicating the relevant parameters of the mobile platform, it can be determined whether the mobile platform is supervised or not, so that when the mobile platform cannot broadcast information, the mobile platform can be restricted from moving. In the case of failure of mobile platform supervision, the security of the mobile platform can be improved as much as possible.
  • the movable platform may be provided with a positioning device, which may be used to acquire parameters such as current position information of the movable platform, and may also be provided with an information broadcasting device.
  • the information broadcast device can be used to process and direct broadcast information indicating parameters related to the mobile platform.
  • the positioning device can be communicatively connected with the information broadcasting device to broadcast information including parameters such as position information of the movable platform. Then, through the relevant judgments on the positioning device and the information broadcasting device, it can be determined whether the mobile platform can broadcast information indicating the parameters related to the mobile platform, that is, whether the hardware platform of the mobile platform is a problem or the information indicating the relevant parameters of the mobile platform. Incorrect, the following specific instructions:
  • another embodiment of a method for controlling a mobile platform in an embodiment of the present invention includes:
  • the movable platform may be provided with a positioning device, and the positioning device may be used to acquire parameters such as current position information of the movable platform.
  • the related parameter may include at least the location information of the movable platform when the mobile platform broadcasts the information indicating the parameter related to the mobile platform
  • whether the positioning device can work normally means whether the location information of the mobile platform can be acquired, that is, Whether it is possible to broadcast the location information of the mobile platform, so that it can determine whether the mobile platform can broadcast information indicating the parameters related to the mobile platform by determining whether the positioning device of the mobile platform can work normally, that is, if the positioning device does not work normally , you can determine that the mobile platform cannot broadcast information.
  • the positioning device may include a GNSS (Global Navigation Satellite System) device, and the GNSS device may be specifically a GPS (Global Positioning System) device, and the positioning device may be used to determine the location of the movable platform.
  • the movable platform can determine whether the positioning device is ok by detecting the working state of the positioning device. In normal operation, for example, if the positioning device is a GPS device, it can be detected whether the GPS device can receive the GPS signal, and if the GPS device cannot receive the GPS signal, it can be determined that the GPS device is not working properly.
  • the normal operation of the positioning device cannot absolutely determine that the mobile platform can broadcast information, but excludes an influencing factor in the non-broadcast information of the mobile platform.
  • the positioning device in this embodiment is not only the GNSS device or the GPS device described above, but in practical applications, the positioning device may also be an IMU (Inertial Measurement Unit), an ultrasonic sensor, a radar wave sensor.
  • the visual sensor (such as a camera) or a combination thereof is not limited herein.
  • the movement of the movable platform can be restricted.
  • the specific manner of restricting the movement of the movable platform may be:
  • the mobile platform when it is determined that the mobile platform is not working normally, it may be determined that the mobile platform cannot broadcast information indicating the relevant parameters of the mobile platform, and may limit the height and movement of the movable platform during the current running process of the movable platform.
  • One or more of distance, running time, moving speed, moving acceleration, and moving direction to achieve the purpose of limiting the movement of the movable platform.
  • the height of the movable platform, the moving distance, the running time, the moving speed, and the moving acceleration may be limited within a certain threshold range, and the moving direction of the movable platform may be limited to a preset direction.
  • the "Provisional Regulations for Driver Management of Civil Unmanned Aerial Vehicle Systems” states that for a micro UAV with a weight less than or equal to 7 kg, the flight range should be in visual line of sight. In the range of inner radius of 500 meters and relative height less than 120 meters, no license management is required, but UAV should be avoided as far as possible to enter excessive airspace. Therefore, when limiting flights such as micro-UAVs, the height of the micro-UAV should be limited to less than 120 meters.
  • another embodiment of a method for controlling a mobile platform in an embodiment of the present invention includes:
  • the movable platform may be provided with a positioning device, and the positioning device may be used to acquire parameters such as current position information of the movable platform. Since the related parameter may include at least the location information of the movable platform when the mobile platform broadcasts the information indicating the movable platform related parameter, whether the location information output by the positioning device is valid means that the broadcast information indicating the movable platform related parameter is broadcasted. Whether it is effective, so that it is possible to determine whether the movable platform can broadcast information indicating the relevant parameters of the movable platform by determining whether the location information output by the positioning device of the mobile platform is valid in real time, that is, if the location information output by the positioning device is invalid, Make sure the mobile platform cannot broadcast information.
  • the specific manner of determining whether the location information output by the positioning device of the mobile platform is valid may be:
  • Determining a signal to noise ratio of the location information determining that the location information is invalid when the signal to noise ratio is less than or equal to a preset signal to noise ratio threshold; and/or,
  • the validity of the position information can be determined by two aspects: 1. the signal to noise ratio of the position information, the signal to noise ratio, that is, the ratio of the signal to the noise, in this embodiment, With the reduction of signal-to-noise ratio, the satellite's signal is submerged in the noise, indicating that the satellite's signal strength is weak, not suitable for measuring the position, and the calculated position will be inaccurate, and the corresponding position information will also be invalid, so that it can be pre- Setting a signal-to-noise ratio threshold as a criterion for determining whether the location information is valid, and determining that the location information is invalid when the signal-to-noise ratio is less than or equal to a preset signal-to-noise ratio threshold; 2.
  • a communication channel can be established between the GPS device and the satellite, which is assumed to be 16 channels, indicating that the GPS device can establish communication with 16 satellites at the same time.
  • the GPS device can only pass after receiving signals of more than three satellites at the same time. Complex operations get the correct positioning data, but if the number of satellites communicating at the same time, the GPS device can obtain the positioning data more quickly and accurately.
  • the threshold can be set in advance as a criterion for judging whether the location information is valid, and the number of satellites can be less than or equal to When the preset number threshold is used, it is determined that the location information is invalid.
  • the validity of the location information output by the positioning device cannot absolutely determine that the mobile platform can broadcast information, but only excludes an influence that the mobile platform cannot broadcast information. factor.
  • the movement of the movable platform may be restricted.
  • the content is the same as that described in the step 402 in the embodiment shown in FIG. 4 except that the preconditions for restricting the movement of the movable platform are different, and details are not described herein again.
  • the mobile platform can maintain the current operation, but due to the location information.
  • FIG. 6 another embodiment of a method for controlling a mobile platform in an embodiment of the present invention includes:
  • the mobile platform may further be provided with an information broadcasting device, which can be used to process information indicating the parameters related to the mobile platform and broadcast, and then can be determined in real time. Whether the information broadcasting apparatus for broadcasting information in the mobile platform can work normally determines whether the mobile platform can broadcast information indicating the parameters related to the mobile platform, that is, if the information broadcasting apparatus is not working normally, it can be determined that the mobile platform cannot broadcast information.
  • the specific manner of determining whether the information broadcast device of the broadcast information in the mobile platform can work normally may be:
  • the information broadcasting apparatus of the mobile platform may be provided with a baseband processor and a transmitter, and the baseband processor may be communicably connected with the transmitter.
  • the baseband processor may be configured to perform calculation, splitting, encoding, encryption, and the like on the information indicating the parameters related to the mobile platform
  • the transmitter may be configured to transmit the processed information indicating the relevant parameters of the mobile platform, that is, broadcast.
  • whether the baseband processor can detect, split, encode, encrypt, etc. information indicating parameters related to the mobile platform can be determined.
  • the baseband processor and the transmitter serve as hardware facilities of the information broadcasting apparatus, and neither of them can work normally, and it can be determined that the information broadcasting apparatus is not working normally.
  • the mobile platform cannot broadcast information with many influencing factors, the normal operation of the information broadcasting device cannot absolutely determine that the mobile platform can broadcast information, but excludes an influencing factor in the non-broadcast information of the mobile platform.
  • the movement of the movable platform can be restricted.
  • step 602 in this embodiment except for the preconditions for restricting the movement of the movable platform, the content is the same as that described in step 402 in the embodiment shown in FIG. 4, and details are not described herein again.
  • the information broadcast apparatus that determines the broadcast information in the mobile platform can work normally, other operations may not be performed on the mobile platform, so that the mobile platform can maintain the current operation, but because of the information.
  • the normal operation of the broadcast device cannot absolutely determine that the mobile platform can broadcast information, and the other factors that cannot be broadcasted by the mobile platform can be detected.
  • the movement of the movable platform can be restricted when other influencing factors make the mobile platform unable to broadcast information.
  • the embodiment shown in FIG. 5, and the embodiment shown in FIG. 6, whether the positioning device can work normally, whether the position information output by the positioning device is valid, and whether the information broadcasting device is normal can be used. At least two of the work are determined to determine that the mobile platform cannot broadcast information indicating the relevant parameters of the mobile platform when the positioning device is not working properly, the location information is invalid, and the information broadcast device is not working properly. In turn, the movement of the movable platform can be restricted. At the same time, if the influencing factors of the mobile platform cannot broadcast information are only the above three, then the mobile platform can be determined to broadcast information only after determining that the positioning device can work normally, the location information is valid, and the information broadcasting device can work normally. . It should be noted that, in practical applications, the influencing factors of the mobile platform not being able to broadcast information may be other than the content described above, as long as it can be used to determine whether the mobile platform can broadcast information, specifically not here. limited.
  • a flight limited zone can be provided.
  • all drones are prohibited from flying within a certain distance of the airport, regardless of the altitude or range of the drone.
  • the mobile platform is taken as an example of a drone.
  • the concept of a flight limited area may also be provided, and the limited flight area is a prohibited mobile platform. Operating areas, such as national military secret bases.
  • the concept of the supervision area may also be provided in the embodiment of the present invention, where the supervision area is an area that can supervise the mobile platform, and the mobile platform broadcast can be obtained in the supervision area.
  • the information indicating the movable platform-related parameters is such that the supervisory device of the mobile platform can acquire relevant parameters of the mobile platform in real time and monitor the running mobile platform.
  • the movement limit of the mobile platform can be based on different situations, which are respectively described below:
  • another embodiment of a method for controlling a mobile platform in an embodiment of the present invention includes:
  • Step 801 in this embodiment is the same as step 201 in the embodiment shown in FIG. 2, and details are not described herein again.
  • one or more monitoring areas may be provided.
  • the mobile platform may be effectively managed by the monitoring device and controlled by the control terminal of the mobile platform.
  • Location information for one or more of the regulatory zones may be stored in a memory of the mobile platform, or alternatively, from a data source external to the mobile platform.
  • the position of the supervision area may be any area, and the area may include any shape such as a circle, a square, a triangle, a natural or artificially defined shape, a shape corresponding to one or more domain division rules, or The shape formed by any other boundary, etc.
  • the supervision area may further include a space, which may be a three-dimensional space including latitude, longitude, and altitude.
  • the regulatory area may have any number of dimensions, and dimensions of dimensions, and/or may be specified by these dimensional locations, in addition to the regions or three-dimensional spaces described above, or To represent the space, range or line of the area, it is not limited here.
  • the location of the mobile platform can be located, and the location of the supervisory zone can be obtained from the memory of the mobile platform or from an external data source, so that by comparison, it can be determined whether the mobile platform is in the regulatory zone.
  • the specific manner of determining whether the mobile platform is in the supervision area in this embodiment may be other methods, such as detecting whether the mobile platform crosses the boundary of the area of the supervision area, specifically, Make a limit.
  • the movement of the movable platform can be restricted.
  • step 803 in this embodiment except for the preconditions for restricting the movement of the movable platform, the other contents are the same as those described in the step 402 in the embodiment shown in FIG. 4, and details are not described herein again.
  • the mobile platform can broadcast information indicating the parameters related to the mobile platform, other operations may not be performed on the mobile platform, so that the mobile platform maintains the current operation.
  • another embodiment of a method for controlling a mobile platform in an embodiment of the present invention includes:
  • Steps 901 to 902 in this embodiment are the same as steps 801 to 802 in the embodiment shown in FIG. 8, and details are not described herein again.
  • the movable platform when the movable platform is in the supervision area, after further determining the distance of the movable platform to the flight limited area, it may be determined whether the distance of the movable platform to the flight limited area is less than or equal to a preset first distance threshold. .
  • one or more fly-limited areas may be provided, and the location information of the one or more fly-limited areas may be stored in a memory of the movable platform, optionally, or from the mobile platform. Obtained from an external data source.
  • the restricted area may include a prohibited area, and the prohibited area may be an air area, which may include A certain size of airspace defined by a region on the ground is often established for safety or for other reasons of the country. Such restricted zones can be drawn on aeronautical charts or other publications.
  • the flight zone can also be used for specific airspace, such as UAVs being restricted to designated operational areas, air restricted zones (eg, at any time, any aircraft is prohibited from entering a certain area, and is not subject to airspace control) Agency licenses, military operations areas, warning areas, warning areas, temporary flight limits, national security areas, and shooting control areas.
  • UAVs being restricted to designated operational areas
  • air restricted zones eg, at any time, any aircraft is prohibited from entering a certain area, and is not subject to airspace control
  • Agency licenses military operations areas, warning areas, warning areas, temporary flight limits, national security areas, and shooting control areas.
  • the flight limited zone can be a permanent no-fly zone or a temporary zone that is prohibited from flying.
  • the flight zone can be changed due to different management of the flight zone or other reasons. Therefore, at the memory of the mobile platform or an external data source, the location of the flight limited area can be updated in real time.
  • the limited flight zone may be any position.
  • the location may be a point (such as latitude and longitude, and the altitude is optional).
  • the location of the flight limited zone may be a point at the center of the airport, or The location of the airport or other type of restricted zone, on the other hand, the location of the restricted zone may be an area, which may also include any shape, such as a circle, a square, a triangle, a natural or an artificial shape, corresponding to one or The shape of a plurality of domain division rules, or the shape formed by any other boundary, etc.
  • the flight restriction zone may be a boundary of an airport or other type of flight limited zone.
  • the supervision area may further include a space, which may be a three-dimensional space including latitude, longitude, and altitude.
  • the fly-limited area may have any number of dimensions, dimensions, and/or dimensions, in addition to the points, regions, or three-dimensional spaces described above.
  • the supervision area may at least partially include a flight limited area.
  • a supervision area and a flight limited area are used for description, and the supervision area is assumed to be In a circular area, the restricted flight area is another circular area, then the supervision area and the limited flight area may include two kinds of positional relationship: 1. the limited flight area is included in the supervision area; 2. the partial area of the limited flight area is Some areas of the regulatory area overlap.
  • the distance between the movable platform and the limited flight area may be determined, wherein the specific manner of determining the distance may be as follows:
  • Determining the current location information of the mobile platform using a positioning device or an external positioning device in the mobile platform (which may include a pseudolite, a signal transmission tower, or other structure that provides location information) and may be from a memory of the mobile platform or The location information of the restricted flight zone is obtained from the external data source.
  • a positioning device or an external positioning device in the mobile platform which may include a pseudolite, a signal transmission tower, or other structure that provides location information
  • the location information of the restricted flight zone is obtained from the external data source.
  • the distance between the movable platform and the flight limited area may be the closest distance between the movable platform and the limited flight area, or the distance between the movable platform and the flight limited area in the moving direction, and may also be a movable platform and
  • the distance between one or more specific points in the flight limited zone, then the point for calculation in the flight limited zone can be determined according to the actual definition of the distance between the movable platform and the flight limited zone, and two points can be calculated according to any calculation.
  • the calculation method of the distance between the movable platform and the flight limited zone is determined.
  • the ENU coordinate system can be used to calculate the distance from the movable platform to the fly-limited area.
  • the distance between the movable platform and the fly-limited area may be determined in real time, or may be determined periodically, such as every 5 minutes, every minute, every second, or every 0.1 seconds or other values.
  • a corresponding first distance threshold may be preset according to the type of the movable platform and the moving capability of the movable platform, and the preset first distance threshold may be different values, such as 1000 meters, 500 meters, 100 meters, 50 meters, 30 meters, 10 meters, etc., when the distance from the movable platform to the flight limited area is less than or equal to the preset first distance threshold, the movement of the movable platform can be restricted to reduce the access limit of the movable platform as much as possible. Safety problems caused by the flying area.
  • the specific determination manner of the distance between the movable platform and the fly-limited area in this embodiment is not limited to the content described above. In actual applications, other methods may also be adopted, as long as it can be determined, and the specificity is not performed here. limited.
  • the distance between the movable platform and the fly-limited area may be a distance or a plurality of distances, which may be determined according to actual needs, and is not limited herein.
  • the positional relationship between the supervision area and the flight limited area may include a plurality of limited flight areas in a regulatory area, and multiple partial areas of one regulatory area may also be used.
  • the partial areas corresponding to the plurality of fly-limited areas overlap each other, and the specific positional relationship is not limited herein.
  • the mobile platform when the mobile platform cannot broadcast information and the mobile platform is in the supervision area, the mobile platform can be restricted from moving, and on the other hand, when the mobile platform is in the supervision area and the mobile platform is limited to fly.
  • the movement of the movable platform can also be restricted when the distance of the zone is less than or equal to the preset first distance threshold.
  • step 903 in this embodiment may also be performed before step 902, or step 901 or step 902 may be performed simultaneously.
  • Step 903 and step 901 to step 902 are when the supervision area at least partially includes the flight limited area.
  • the mobile platform needs to limit the two situations of mobile: 1. When the mobile platform cannot broadcast information and is in the supervision area, it needs to limit the movement of the mobile platform; 2.
  • the mobile platform is located in the supervision area, and the movable platform is in the restricted area.
  • the distance is less than or equal to the preset first distance threshold, the movement of the movable platform is restricted regardless of whether the mobile platform can broadcast information. In practical applications, if both cases are met at the same time, the movement of the movable platform should also be limited.
  • the mobile platform can broadcast information indicating the relevant parameters of the mobile platform, other operations may not be performed on the mobile platform, so that the mobile platform can maintain the current operation, but
  • the distance between the movable platform and the fly-limited area can be continuously monitored, so that when the distance from the movable platform to the fly-limited area is less than or equal to the preset first distance threshold, the movement of the movable platform can be restricted.
  • the movable platform if the movable platform is in the supervision area, but the distance from the movable platform to the flight limited area is greater than the preset first distance threshold, it means that there is no need to limit the movement of the movable platform. Then, other operations may not be performed on the mobile platform, so that the mobile platform can maintain the current operation, but can continue to determine whether the mobile platform can broadcast information, so that the mobile platform cannot be widely used. When broadcasting information, you can limit the movement of the mobile platform, which is not limited here.
  • the distance between the movable platform and the flight limited area can be detected, so that the movable platform can be limited to the fly.
  • the distance of the area is less than or equal to the preset first distance threshold, the movement of the movable platform can be restricted, which is not limited herein.
  • another embodiment of a method for controlling a mobile platform in an embodiment of the present invention includes:
  • Step 1101 in this embodiment is the same as step 201 in the embodiment shown in FIG. 2, and details are not described herein again.
  • the content of the part of the step 1103 in this embodiment is the same as that of the step 904 in the embodiment shown in FIG. 9, and details are not described herein again.
  • the movement of the movable platform can be restricted, and the movement of the movable platform can be restricted.
  • the distance from the movable platform to the flight limited area is less than or equal to When the preset first distance threshold is used, the movement of the movable platform can be restricted.
  • the content of the embodiment is the same as that described in step 904 in the embodiment shown in FIG. 9 except for the concept of the supervised area, and details are not described herein again.
  • step 1102 in this embodiment may also be performed before step 1101, or may be performed simultaneously with step 1101.
  • step 1102 and step 1101 are only limited fly zones, the movable platform needs to limit the two situations of movement. : 1. When the mobile platform cannot broadcast information, it is necessary to limit the movement of the movable platform; 2. When the distance from the mobile platform to the flight limited area is less than or equal to the preset first distance threshold, regardless of whether the mobile platform can broadcast normally Information, all need to limit the movement of the mobile platform. In practical applications, if both cases are met at the same time, the movement of the movable platform should also be limited.
  • the mobile platform can broadcast information indicating the relevant parameters of the mobile platform, other operations may not be performed on the mobile platform, so that the mobile platform can maintain the current operation, but can continue. Monitor the distance between the movable platform and the flight-limited area so that when it is movable When the distance between the platform and the fly-limited area is less than or equal to the first distance threshold, the movement of the movable platform can be restricted, which is not limited herein.
  • the mobile platform can be kept in the current operation, but can continue to determine whether the mobile platform can broadcast information, so that when the mobile platform cannot broadcast information, the mobile platform can be restricted from being limited.
  • the restriction strategy can be executed on the movable platform based on the current height, the moving distance, and the running time of the movable platform, which are respectively described below:
  • another embodiment of a method for controlling a mobile platform in an embodiment of the present invention includes:
  • Step 1201 in this embodiment is the same as step 201 in the embodiment shown in FIG. 2, and details are not described herein again.
  • the current height of the movable platform may be acquired.
  • the current height of the movable platform may be a vertical distance of the movable platform relative to the object, and the current height may be used to determine whether a restriction policy needs to be performed on the movable platform.
  • a barometer can be provided on the movable platform. The relationship between the air pressure and the height can be used to determine the current height of the movable platform by obtaining the current air pressure value in the barometer, or by using a positioning device of the movable platform or The external positioning device acquires current location information of the movable platform, and the current location information may include the current longitude, latitude, and altitude of the movable platform, so that the current height of the movable platform may be determined.
  • the positioning device is one of an ultrasonic sensor, a radar wave sensor, and a camera
  • the bottom of the movable platform may be mounted with an ultrasonic sensor that can face the object and face downward, and can emit an ultrasonic signal and receive the ultrasonic wave.
  • the reflected signal of the signal so that the current height of the movable platform can be determined according to the transmission time of the ultrasonic signal and the reception time of the reflected signal of the ultrasonic signal, and the transmission speed of the ultrasonic signal; or the camera can be mounted at the bottom of the movable platform
  • the camera can be a monocular camera or a binocular camera. The camera can be placed facing the object and placed downwards.
  • the camera When the camera is called to determine the focus position of the object, the camera can be acquired.
  • the focal length of the head at this time and can determine an object distance corresponding to the focal length at this time according to the correspondence relationship between the stored focal length and the object distance, and the determined object distance is the distance between the camera and the object, so that the position of the camera and the movable platform can be determined according to the position of the camera and the movable platform.
  • the relationship and the height of the camera calculate the current height of the movable platform; or, the bottom of the movable platform can be provided with a radar sensor that can face the object and face downward, can emit a radar wave signal and receive the radar wave The reflected signal of the signal, so that the current height of the movable platform can be determined according to the transmission time of the radar wave signal and the reception time of the reflected signal of the radar wave signal, and the transmission speed of the radar wave signal.
  • the embodiment only illustrates the specific manner of obtaining the current height of the movable platform by using the above several examples.
  • other methods may also be used, for example, TOF (time offlight) sensors may be added.
  • the distance measuring sensor performs short-range ranging, such as a laser radar, an infrared sensor, etc., and uses the flight time of the optical pulse to perform ranging, as long as the current height of the movable platform can be obtained, which is not limited herein.
  • the object may be an obstacle, such as a building, a ground carton, or the like, and may be an object, as long as it is an object capable of forming a vertical height difference with the movable platform, which is not limited herein.
  • the restriction policy when the mobile platform cannot broadcast information and the current height of the movable platform is greater than or equal to a preset height threshold, the restriction policy may be performed.
  • restricting the movement of the movable platform may be expressed as limiting the height of the movable platform, the moving distance, the running time, the moving speed, and the moving acceleration.
  • height thresholds such as values of 50 meters, 100 meters, and 150 meters, may be set in advance as criteria for whether a restriction policy needs to be performed on the mobile platform.
  • the preset height threshold may be Inconsistent, for example, in some areas of latitude and longitude, all heights may be limited, but in other areas of latitude and longitude, some heights may be limited, but other heights are not limited.
  • a corresponding restriction policy may be performed on the movable platform:
  • the movable platform when the current height of the movable platform is greater than or equal to the preset height threshold, the movable platform can be controlled to stay at the current position, that is, the movable platform is controlled to keep the current height unchanged, and the moving distance is unchanged, so that The mobile platform can hover at the current location.
  • a preset height threshold is, for example, 250 meters
  • the movable platform can be controlled to hover at a height of 260 meters to prevent the movable platform from entering a height of more than 300 meters.
  • the movable platform when the current height of the movable platform is greater than or equal to a preset height threshold, the movable platform can be controlled to move to a preset area, where the movable platform is, for example, height, mobile
  • the distance, the moving speed, the moving acceleration, and the moving direction may all be limited, wherein the preset area may include, but is not limited to, a legal operating area of the movable platform.
  • a preset height threshold is, for example, 250 meters
  • the movable platform can control the movable platform to move to a height below 250 meters, or to other latitudes and longitudes, but at the same time control the height of the movable platform below the current latitude and longitude regions
  • the preset height threshold can also be moved to a legal operating area such as without a height limit.
  • the movable platform when the current height of the movable platform is greater than or equal to the preset height threshold, the movable platform can be controlled to move to a preset position, where the preset position may include a position where the movable platform starts to move, At least one of the locations at which the control terminal of the mobile platform is located. Alternatively, in some cases, when the position at which the movable platform starts moving is closer to the control terminal of the movable platform, the position at which the control terminal is located may be approximated as the position at which the movable platform starts moving.
  • the height of the movable platform, the moving distance, the running time, the moving speed, the moving acceleration, and the moving direction may be limited to different degrees.
  • the mobile platform may also send restriction information to the control terminal of the mobile platform, and the restriction information may be used to indicate that the mobile device is movable.
  • the platform is executing a restriction policy such that the control terminal of the mobile platform can prompt the user accordingly through a mobile application, a flight status indicator, an audio indicator, or other indicators, and the specific prompting manner may include but is not limited to Text prompts, audio prompts, multimedia tips, image prompts, etc.
  • the mobile platform when it performs the restriction policy, it can also follow the preset control mode. Illuminating or flashing one or more indicator lights of the movable platform, so that the movable platform can further visually sense the execution action of the restriction policy, so that the information cannot be broadcasted on the movable platform and the current height is not less than
  • the preset height threshold allows the user to enhance the supervision of the mobile platform.
  • the mobile platform when the mobile platform performs the restriction policy, in addition to starting one or more indicator lights, the mobile platform may use other methods alone or in combination to perform corresponding prompts, such as
  • the audio device emits a preset sound, which is not limited herein.
  • the mobile platform can broadcast information indicating the relevant parameters of the mobile platform, other operations may not be performed on the mobile platform, so that the mobile platform can maintain the current operation, but can continue.
  • the distance between the movable platform and the flight limited area is monitored and is not limited here.
  • the restriction policy may not be performed on the mobile platform. , can also be executed, not limited here.
  • another embodiment of a method for controlling a mobile platform in an embodiment of the present invention includes:
  • Step 1301 in this embodiment is the same as step 201 in the embodiment shown in FIG. 2, and details are not described herein again.
  • the current moving distance of the movable platform may be acquired.
  • the mobile platform can communicate with the control terminal of the mobile platform and is supervised by the supervisory device, the mobile platform can also start moving at different locations. Therefore, the current moving distance of the mobile platform has multiple definitions.
  • the current moving distance of the mobile platform may be the distance from the mobile platform to the mobile starting point, or may be the distance from the mobile platform to the control terminal of the mobile platform, where the starting point of the mobile platform is When the distance of the control terminal of the mobile platform is relatively close, the position at which the control terminal is located may be approximated as the starting point of movement of the movable platform.
  • the current moving distance of the mobile platform can be based on the positioning information output by the positioning device of the mobile platform, the power of the signal received by the mobile platform from the control terminal of the mobile platform, and the control of the movable platform and the movable platform.
  • One or more of the signal round-trip times between the terminals are determined by taking the current moving distance as the distance from the mobile platform to the control terminal of the mobile platform as an example, as follows:
  • the mobile platform can obtain the current location information of the mobile platform from the GPS device, or obtain the location information of the control terminal of the mobile platform from the memory or an external data source, thereby Determine the horizontal distance d and the height difference h between the current position of the movable platform and the control terminal, and then calculate the current moving distance D of the movable platform, as follows:
  • the mobile platform establishes a communication connection with the control terminal of the mobile platform, and the communication can directly occur through a local area network (LAN), a wide area network (WAN), or any other communication technology, and the control platform of the mobile platform and the movable platform
  • the communication between the two may be two-way communication and/or one-way communication.
  • the control terminal of the mobile platform may provide instructions to the mobile platform to control the movement or other functions of the mobile platform, and the mobile platform may provide an indication to be movable.
  • Information about platform-related parameters or other sensed data is provided to the control terminal of the mobile platform, and instructions from the control terminal of the mobile platform and/or data from the mobile platform may also be transmitted simultaneously or in an orderly manner. In practical applications, data between the mobile platform and the control terminal of the mobile platform can be transmitted over the same communication channel or a different communication channel.
  • the mobile platform can calculate the current moving distance D of the movable platform according to the power of the signal received from the control terminal of the mobile platform according to the received power attenuation relationship in the free space, as follows:
  • p tx may be the transmit power of the transmitter of the information broadcasting device of the mobile platform
  • h txrx may be the antenna gain
  • f may be the carrier frequency
  • P rsrp may be the received power of the control terminal
  • X is the link attenuation. Shadow attenuation, when the mobile platform is UAV, it is recommended that X can take 10dB in communication.
  • the signal round trip time RTT between the mobile platform and the control terminal of the mobile platform may be used. Calculate the current moving distance D of the movable platform, as follows:
  • any one of three methods may be utilized, or two or three methods may be used.
  • the weighting calculation is performed on the two or three moving distances, and the last weighted calculation value is used as the current moving distance of the movable platform, which is not limited herein.
  • the specific manner of determining the current moving distance of the movable platform may be used separately or in combination according to the above description, as long as the current moving distance of the movable platform can be determined. , specifically here is not limited.
  • the restriction policy when the mobile platform cannot broadcast information and the current moving distance of the movable platform is greater than or equal to the preset second distance threshold, the restriction policy may be performed.
  • the second distance threshold may be preset, such as values of 1000 meters, 500 meters, and 300 meters, as a criterion for whether a restriction policy needs to be performed on the mobile platform, and the current definition of the mobile platform for different definitions
  • the moving distance may correspond to a different preset second distance threshold, which is not limited herein.
  • Step 1303 in this embodiment is the same as step 1203 in the embodiment shown in FIG. 12 except that the preconditions for executing the restriction policy are different, and details are not described herein again.
  • the mobile platform can broadcast information indicating the relevant parameters of the mobile platform, other operations may not be performed on the mobile platform, so that the mobile platform can maintain the current operation, but can continue.
  • the distance between the movable platform and the fly-limited area is monitored, so that when the distance between the movable platform and the fly-limited area is less than or equal to the first distance threshold, the movement of the movable platform can be restricted, which is not limited herein.
  • the mobile platform may not be used. Execution of the restriction policy, you can also enforce the restriction policy, which is not limited here.
  • another embodiment of a method for controlling a mobile platform in an embodiment of the present invention includes:
  • Step 1401 in this embodiment is the same as step 201 in the embodiment shown in FIG. 2, and details are not described herein again.
  • the current moving distance of the movable platform may be acquired.
  • the current moving distance of the mobile platform may include the distance from the mobile platform to the supervisory device of the mobile platform.
  • the monitoring device may obtain information indicating the parameters related to the mobile platform in the communication channel, and in actual application, the monitoring device may be set in any Location, but if the supervising equipment is located at the boundary of the restricted area or at a certain point in the restricted area, in order to prevent the movable platform from entering the restricted area, the distance between the current movable platform and the supervised equipment can be obtained, and reference can be made to the movable
  • the distance between the platform and the fly-limited zone is limited to implement a restriction policy on the mobile platform when the mobile platform is closer to the supervisory device.
  • the current moving distance of the mobile platform may be determined according to one or more of signal power sent by the mobile device and the signal round-trip time between the mobile platform and the supervisory device. For details, refer to the description in step 1302 in the embodiment shown in FIG. 13 , and details are not described herein again.
  • the current moving distance of the movable platform may include the distance from the movable platform to the flight limited area.
  • the current moving distance of the movable platform By defining the current moving distance of the movable platform as the distance from the movable platform to the limited flying area, real-time monitoring and prevention can be prevented.
  • the mobile platform enters the flight limited area.
  • the electronic tag may be disposed on the boundary of the restricted flight zone, and the current moving distance of the movable platform is according to the signal power broadcast by the electronic tag received by the movable platform, and the signal round-trip time between the movable platform and the electronic tag.
  • One or more determinations For details, refer to the description in step 1302 in the embodiment shown in FIG. 13 , and details are not described herein again.
  • the restriction policy when the mobile platform cannot broadcast information and the current moving distance of the movable platform is less than or equal to the preset third distance threshold, the restriction policy may be performed.
  • a third distance threshold may be preset, such as 1000 meters, 500 meters, 100 meters, 50 meters, 30 meters, 10 meters, etc., as a criterion for whether a restriction policy needs to be performed on the mobile platform,
  • the current distance of the mobile platform of the different definitions may be different from the preset third distance threshold, which is not limited herein.
  • Step 1403 in this embodiment is the same as step 1203 in the embodiment shown in FIG. 12 except that the preconditions of the restriction policy are different, and details are not described herein again.
  • the mobile platform can broadcast information indicating the relevant parameters of the mobile platform, other operations may not be performed on the mobile platform, so that the mobile platform can maintain the current operation, but can continue.
  • the distance between the movable platform and the fly-limited area is monitored, so that when the distance between the movable platform and the fly-limited area is less than or equal to the first distance threshold, the movement of the movable platform can be restricted, which is not limited herein.
  • the mobile platform may not be used. Execution of the restriction policy, you can also enforce the restriction policy, which is not limited here.
  • another embodiment of a method for controlling a mobile platform in an embodiment of the present invention includes:
  • Step 1501 in this embodiment is the same as step 201 in the embodiment shown in FIG. 2, and details are not described herein again.
  • the current running time of the mobile platform can be obtained.
  • the mobile platform has limited endurance capability, and the ground-set power supply base station serving the mobile platform is limited.
  • the mobile platform can obtain The current running time of the mobile platform can effectively control the running time of the mobile platform when the monitoring device cannot obtain the information indicating the relevant parameters of the mobile platform, so that when the endurance capability of the mobile platform reaches the exhausted state, the current mobile platform is acquired.
  • the running time of the mobile platform can be controlled according to the current running time to operate, such as a power supply base station, for the endurance operation, thereby ensuring the security of the mobile platform.
  • the supervisory device cannot implement effective supervision of the mobile platform, so in order to prevent the mobile platform from losing the effective supervision, by obtaining the current running time of the mobile platform. It is possible to further determine whether the drone may enter a restricted area such as a potential danger.
  • the current running time of the mobile platform may include, but is not limited to, one or more of a running time of the power system of the movable platform, a power-on time of the movable platform, and a time when the movable platform is in a motion state.
  • a running time of the power system of the movable platform a power-on time of the movable platform
  • a time when the movable platform is in a motion state a time when the movable platform is in a motion state.
  • the power system is Mobile platform is very important.
  • the power system of the mobile platform is mainly motor-based, which can include motor, ESC (control motor speed), propeller and battery, so in the current operation,
  • the mobile platform can determine the running time of the power system of the movable platform by adjusting the time of starting to rotate the propeller, and the current time is determined; the power system of the movable platform is provided with a battery, and the battery life determines the endurance of the movable platform.
  • the mobile platform can determine the power-on time of the mobile platform by acquiring the remaining power or the power consumption; and because the motor is always running when the movable platform is in motion, the motor can be used in the current running process of the movable platform. Time to determine when the mobile platform is in motion.
  • the determining manner of the running time of the power system of the movable platform, the power-on time of the movable platform, and the time when the movable platform is in the motion state in this embodiment is only an example, and in practical applications, Other methods may be used, such as determining the working time of the speed sensor, which is not limited herein.
  • the limiting policy may be executed, so that the running time of the movable platform can be effectively controlled to prevent The potential risks of mobile platforms occur.
  • a time threshold such as a value of 4 hours, 3 hours, 2 hours, and 1 hour, may be set in advance as a criterion for whether a restriction policy needs to be performed on the mobile platform, and the current definition of the mobile platform for different definitions
  • the running time can be different for different preset time thresholds, which is not limited here.
  • the restriction policy can be executed as long as one of the times is greater than or equal to the preset time threshold.
  • Step 1503 in this embodiment is the same as step 1203 in the embodiment shown in FIG. 12 except that the preconditions of the restriction policy are different, and details are not described herein again.
  • the mobile platform can broadcast information indicating the relevant parameters of the mobile platform, other operations may not be performed on the mobile platform, so that the mobile platform can maintain the current operation, but can continue.
  • the distance between the movable platform and the fly-limited area is monitored, so that when the distance between the movable platform and the fly-limited area is less than or equal to the first distance threshold, the movement of the movable platform can be restricted, which is not limited herein.
  • the restriction policy may be executed on the mobile platform, and the restriction policy may be executed.
  • the mobile platform when the restriction policy is executed, the mobile platform can be automatically executed, or the mobile device can be controlled by the supervisory device, and the following is an example of performing the restriction policy on the mobile platform.
  • another embodiment of a method for controlling a mobile platform in an embodiment of the present invention includes:
  • Steps 1601 to 1602 in this embodiment are the same as steps 1201 to 1202 in the embodiment shown in FIG. 12, and details are not described herein again.
  • the movable platform when the movable platform cannot broadcast information and the current height of the movable platform is greater than or equal to a preset height threshold, the movable platform can receive the control signal sent by the supervisory device, and can control the movable according to the control signal. The area or location indicated by the platform to the control signal.
  • the supervisory device may not obtain the information indicating the parameters related to the mobile platform or the obtained information may not correctly indicate the relevant parameters of the mobile platform, and at this time, the supervisory device may be mobile by default. If the supervision of the platform fails, in order to ensure the security of the mobile platform, a control signal may be sent to the mobile platform. After the control platform receives the control signal, the mobile platform may control its own movement according to the control signal and move to the control signal. Area or location.
  • the area indicated by the control signal may be a preset area, and the preset area may include a legal operation area of the movable platform, and the position indicated by the control signal may be a preset position, and the preset position may be
  • the current location of the mobile platform can also be the location where the mobile platform starts to move, and can also be the location where the control terminal of the mobile platform is located, which is not limited herein.
  • the specific manner of controlling the movable platform to move to the area or the location indicated by the control signal may refer to the content described in step 1203 in the embodiment shown in FIG. 12, and details are not described herein again.
  • the mobile platform can broadcast information indicating the relevant parameters of the mobile platform, other operations may not be performed on the mobile platform, so that the mobile platform can maintain the current operation, but can continue.
  • the distance between the movable platform and the flight limited area is monitored and is not limited here.
  • control signal may not be received.
  • Receive control signals which are not limited here.
  • an embodiment of the mobile platform in the embodiment of the present invention includes:
  • a determining unit 1701 configured to determine whether the mobile platform can broadcast information indicating a parameter related to the mobile platform
  • the limiting unit 1702 is configured to limit the movement of the movable platform when the movable platform cannot broadcast information.
  • the determining unit 1701 may be further configured to:
  • the determining unit 1701 may be further configured to:
  • the determining unit 1701 is further configured to:
  • the signal to noise ratio of the location information is determined. When the signal to noise ratio is less than or equal to the preset signal to noise ratio threshold, the location information is determined to be invalid.
  • the determining unit 1701 is further configured to:
  • the determining unit 1701 may be further configured to:
  • the determining unit 1701 is further configured to:
  • the determining unit 1701 is further configured to:
  • the limiting unit 1702 may be further configured to:
  • the limiting unit 1702 may further be used to:
  • the movement of the movable platform is restricted when the movable platform is in the supervision area and the distance from the movable platform to the flight limited area is less than or equal to a preset first distance threshold, wherein the supervision area at least partially includes the limited flight area.
  • the limiting unit 1702 may be further configured to:
  • Determining the distance of the movable platform to the flight limited zone restricting the movement of the movable platform when the distance from the movable platform to the flight limited zone is less than or equal to a preset first distance threshold and the movable platform cannot broadcast information.
  • the limiting unit 1702 may further be used to:
  • the limiting unit 1702 may be further configured to:
  • the limiting unit 1702 may be further configured to:
  • the limiting unit 1702 may be further configured to:
  • the current moving distance is a distance from the mobile platform to the mobile starting point or the control terminal of the mobile platform.
  • the current moving distance is based on positioning information output by the positioning device of the mobile platform, and the power of the signal received by the mobile platform from the control terminal of the mobile platform.
  • One or more of the signal round trip times between the mobile platform and the control terminal of the mobile platform are determined.
  • the limiting unit 1701 may be further configured to:
  • the current moving distance includes a distance from the mobile platform to the supervisory device of the mobile platform.
  • the current moving distance is one of a signal power sent by the monitoring device received by the mobile platform, a signal round trip time between the mobile platform and the supervisory device, or A variety of ok.
  • the current moving distance includes a distance from the movable platform to the fly-limited area.
  • the current moving distance is one of a signal power broadcast by the electronic tag received by the mobile platform, and a signal round trip time between the movable platform and the electronic tag. Or multiple determinations, wherein the electronic tag is placed on the boundary of the flight limited zone.
  • the limiting unit 1701 may be further configured to:
  • the running time of the movable platform includes one of a running time of the power system of the movable platform, a power-on time of the movable platform, and a time when the movable platform is in a motion state.
  • a running time of the power system of the movable platform includes one of a running time of the power system of the movable platform, a power-on time of the movable platform, and a time when the movable platform is in a motion state.
  • a running time of the power system of the movable platform includes one of a running time of the power system of the movable platform, a power-on time of the movable platform, and a time when the movable platform is in a motion state.
  • a power-on time of the movable platform includes one of a running time of the power system of the movable platform, a power-on time of the movable platform, and a time when the movable platform is in a motion state.
  • the limiting unit 1702 may further be used to:
  • the limiting unit 1702 may further be used to:
  • the preset area includes a legal operating area of the movable platform.
  • the limiting unit 1702 may further be used to:
  • the preset location includes at least one of a location where the movable platform starts to move, and a location where the control terminal of the movable platform is located.
  • the limiting unit 1702 may be further configured to:
  • the limiting unit 1702 may further be used to:
  • the restriction information is sent to the control terminal of the mobile platform, and the restriction information is used to indicate that the mobile platform is performing the restriction policy.
  • the limiting unit 1702 may further be used to:
  • the mobile platform in the embodiment of the present invention is described above from the perspective of a modular functional entity.
  • the mobile platform in the embodiment of the present invention is described below from the perspective of hardware processing.
  • FIG. 18 in the embodiment of the present invention, Another embodiment of the mobile platform includes:
  • the processor 1801 and the memory 1802 (wherein the number of the processors 1801 may be one or more, and one processor 1801 in FIG. 18 is taken as an example);
  • a memory 1802 configured to store program instructions
  • the processor 1801 by calling the stored program instructions in the memory 1802, can be used to:
  • the processor 1801 is further configured to:
  • the processor 1801 is further configured to:
  • the processor 1801 is further configured to:
  • the signal to noise ratio of the location information is determined. When the signal to noise ratio is less than or equal to the preset signal to noise ratio threshold, the location information is determined to be invalid.
  • the processor 1801 is further configured to:
  • the processor 1801 is further configured to:
  • the processor 1801 is further configured to:
  • the processor 1801 is further configured to:
  • the processor 1801 is further configured to:
  • the processor 1801 is further configured to:
  • Determining the distance of the movable platform to the flight limited zone, and restricting the movement of the movable platform when the movable platform is in the supervision zone and the distance of the movable platform to the flight limited zone is less than or equal to a preset first distance threshold, wherein the monitoring zone At least partially including a flight limited area.
  • the processor 1801 is further configured to:
  • Determining the distance of the movable platform to the flight limited zone restricting the movement of the movable platform when the distance from the movable platform to the flight limited zone is less than or equal to a preset first distance threshold and the movable platform cannot broadcast information.
  • the processor 1801 is further configured to:
  • the processor 1801 is further configured to:
  • the processor 1801 is further configured to:
  • the processor 1801 is further configured to:
  • the processor 1801 is further configured to:
  • the processor 1801 is further configured to:
  • the processor 1801 is further configured to:
  • the processor 1801 is further configured to:
  • the processor 1801 is further configured to:
  • the mobile platform may further include a receiver 1803, and the receiver 1803 may be configured to:
  • the processor 1801 is further configured to:
  • the movable platform is controlled to move to an area or position indicated by the control signal according to the control signal.
  • the processor 1801 is further configured to:
  • the restriction information is sent to the control terminal of the mobile platform, and the restriction information is used to indicate that the mobile platform is performing the restriction policy.
  • the processor 1801 is further configured to:
  • the present invention may also relate to a mobile platform system, including a control terminal of the mobile platform, a mobile platform communicable with the control terminal, and a supervisory device for supervising the mobile platform.
  • the control terminal may be configured to send a control command to the mobile platform, where the mobile platform may include a positioning device, an information broadcasting device, a controller, a body, a sensing component, and a landing gear, and the controller may control according to the received control command.
  • Mobile platform movement can be a remote controller of a mobile platform, a tablet with a control system, a mobile phone, a smart wearable device, and the like.
  • the supervisory device is configured to obtain communication data between the mobile platform and the control terminal to implement supervision of the mobile platform, and the supervisory device may include a receiver and a baseband processor.
  • the disclosed system, apparatus, and method may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium.
  • the technical solution of the present invention which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium.
  • a number of instructions are included to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes.

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Signal Processing (AREA)
  • Quality & Reliability (AREA)
  • Electromagnetism (AREA)
  • Traffic Control Systems (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

L'invention concerne un procédé de commande pour une plate-forme mobile et une plate-forme mobile. Le procédé consiste à : déterminer si une plate-forme mobile peut diffuser ou non des informations indiquant des paramètres associés de la plate-forme mobile (étape 201) ; et si la plate-forme mobile ne peut pas diffuser les informations, limiter le mouvement de la plate-forme mobile (étape 202). Selon le procédé, si la plate-forme mobile ne peut pas diffuser des informations, c'est-à-dire que la surveillance sur la plate-forme mobile est invalide, le mouvement de la plate-forme mobile est limité, ce qui permet d'empêcher efficacement que la plate-forme mobile entraîne des risques potentiels, par exemple, la mise en danger de la sécurité d'avions commerciaux et l'entrée dans une zone de restriction de vol.
PCT/CN2017/077513 2017-03-21 2017-03-21 Procédé de commande pour plate-forme mobile et plate-forme mobile WO2018170733A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
PCT/CN2017/077513 WO2018170733A1 (fr) 2017-03-21 2017-03-21 Procédé de commande pour plate-forme mobile et plate-forme mobile
CN202111578541.9A CN114253283A (zh) 2017-03-21 2017-03-21 一种可移动平台的控制方法以及可移动平台
CN201780005632.9A CN108513640B (zh) 2017-03-21 2017-03-21 一种可移动平台的控制方法以及可移动平台
US16/569,798 US20200001998A1 (en) 2017-03-21 2019-09-13 Movable platform control method and movable platform

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PCT/CN2017/077513 WO2018170733A1 (fr) 2017-03-21 2017-03-21 Procédé de commande pour plate-forme mobile et plate-forme mobile

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US20200001998A1 (en) 2020-01-02
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